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Abstract:

A grain transfer control system, and method of use thereof, for
automatedly controlling the transfer of grain from a mobile
transferor-type vehicle, such as a combine harvester, to a mobile
transferee-type vehicle, such as a crop transport, by varying the
position and speed of the transferor-type and transferee-type vehicles
relative to one another during the transfer operation, especially by
varying the position and rate of walk of the discharge spout along at
least a portion of the length of a grain holding receptacle of the
transferee-type vehicle, to effect a generally even fill of the grain
holding receptacle of the transferee-type vehicle along the length of the
grain holding receptacle.

Claims:

1. A grain transfer control system for automatedly controlling the
transfer of grain from a mobile transferor-type vehicle to a mobile
transferee-type vehicle by varying the position and speed of the
transferor-type vehicle and transferee-type vehicle relative to one
another to effect a generally even fill of the transferee-type vehicle,
the transferor-type vehicle having opposed sides and including a grain
storage bin with a grain discharge assembly operable for effecting the
transfer of grain out of the grain storage bin, such grain discharge
assembly including a discharge arm having a discharge spout for directing
a flow of grain therethrough and the discharge arm being extendible from
such transferor-type vehicle to position the discharge spout at a desired
position distanced such transferor-type vehicle, the mobile
transferee-type vehicle having a grain holding receptacle of a
predetermined length and width to generally define opposed ends and sides
of the grain holding receptacle, comprisinga positioning system
associated with the transferor-type vehicle and the transferee-type
vehicle for determining the positions thereof relative to one another and
for automatedly controlling and maintaining desired positioning
therebetween as the transferor-type vehicle and the transferee-type
vehicle are moved,said positioning system including a control portion
associated with one of the transferor-type vehicle and the
transferee-type vehicle for initiating a grain transfer operation when
the transferee-type vehicle has been positioned at a spaced distance from
the transferor-type vehicle and the discharge spout has been positioned
to direct a flow of grain therefrom into the grain holding receptacle of
the transferee-type vehicle nearer one end of the grain holding
receptacle and for thereafter effecting the grain transfer operation,said
control portion including input controls operable by a user to input data
and control information, and a processor operable to automatedly control
the grain transfer operation in accordance with said input data and
control information,said processor programmed to be responsive to control
information toa) commence a grain transfer operation when the discharge
spout has been positioned at a transfer start position relative to the
length of the grain holding receptacle of the transferee-type vehicleand
to thereafterb) transfer grain for an initial dwell time while the
discharge spout remains at said transfer start position,c) effect an
ongoing repositioning of the transferee-type vehicle relative to the
transferor-type vehicle to walk the discharge spout along at least a
portion of the length of the grain holding receptacle as grain transfer
continues until the discharge spout reaches a transfer end position
relative to the length of the grain holding receptacle of the
transferee-type vehicle,d) continue grain transfer for a terminal dwell
time while the discharge spout remains at said transfer end position,e)
terminate the grain transfer operation,whereby, a generally even fill of
the grain holding receptacle along its length is achieved.

2. The system of claim 1 wherein the control information input by a user
includes initial and terminal dwell times.

3. The system of claim 2 wherein said control portion includes a
potentiometer adjustable by a user for inputting a dwell time.

4. The system of claim 1 wherein the control information input by a user
includes a walk profile for the walk of the discharge spout along the
length of the grain holding receptacle.

5. The system of claim 4 wherein the walk profile includes rate of walk
data for the discharge spout along the length of the grain holding
receptacle and wherein said rate of walk data can be varied during the
course of a grain transfer operation to change the rate of walk during
such grain transfer operation.

6. The system of claim 5 wherein said control portion includes a
potentiometer adjustable by a user for inputting variable rate of walk
data.

7. The system of claim 1 wherein said positioning system employs GPS
determinations for positioning the transferor-type vehicle and the
transferee-type vehicle relative to one another.

8. The system of claim 7 wherein at least one GPS sensor is associated
with the transferor-type vehicle and at least one other GPS sensor is
associated with the transferee-type vehicle.

9. The system of claim 8 wherein the discharge spout has a GPS sensor
associated therewith.

10. The system of claim 8 wherein the position of the discharge spout
relative to the grain holding receptacle and the length thereof is
determinable based upon the GPS positions of the transferor-type vehicle
and the transferee-type vehicle and the orientations thereof and
particular attitude of the discharge spout relative to the
transferor-type vehicle.

11. The system of claim 1 wherein a projected discharge flow from the
discharge spout into the grain holding receptacle is determinable based
upon the positions of the transferor-type vehicle and the transferee-type
vehicle and the orientations thereof relative to one another and the
particular attitude of the discharge spout relative to the
transferor-type vehicle.

12. The system of claim 11 wherein said processor is operable to determine
during a grain transfer operation whether the projected discharge flow of
grain from the discharge spout is directed to within the grain holding
receptacle.

13. The system of claim 12 wherein said control portion of said
positioning system includes a sensor input portion at which certain
machine status information is made available to said positioning system.

14. The system of claim 13 wherein said control portion includes look-up
tables and said processor is operable to determine from said look-up
tables, based upon machine status information available at said sensor
input portion during the grain transfer operation, the projected
discharge flow of grain relative to the grain holding receptacle.

15. The system of claim 12 wherein said processor is programmed to
terminate the grain transfer operation if the projected discharge flow of
grain ceases to be directed within the grain holding receptacle.

16. The system of claim 1 wherein said input controls include operator
override controls operable by a user and to which said control portion is
responsive for terminating the grain transfer operation.

17. A method for automatedly controlling the transfer of grain from a
mobile transferor-type vehicle to a mobile transferee-type vehicle by
varying the position and speed of the transferor-type vehicle and
transferee-type vehicle relative to one another to effect a generally
even fill of the transferee-type vehicle,the mobile transferor-type
vehicle including a grain storage bin with a grain discharge assembly
operable for effecting the transfer of grain out of the grain storage
bin, such grain discharge assembly including a discharge arm having a
discharge spout for directing a flow of grain therethrough and the
discharge arm being extendible from such transferor-type vehicle to
position the discharge spout at a desired position distanced such
transferor-type vehicle,the mobile transferee-type vehicle having a grain
holding receptacle of a predetermined length and width to generally
define opposed ends and sides of the grain holding receptacle,the method
comprisingestablishing an electronic link between the transferor-type and
transferee-type vehicles and a unified grain transfer control system
therefor, said grain transfer control system includinga positioning
system associated with the transferor-type vehicle and the
transferee-type vehicle for determining the positions thereof relative to
one another and for automatedly controlling and maintaining desired
positioning therebetween as the transferor-type vehicle and the
transferee-type vehicle are moved, said positioning system includinga
control portion associated with one of the transferor-type vehicle and
the transferee-type vehicle for initiating a grain transfer operation
when the transferee-type vehicle has been positioned at a spaced distance
from the transferor-type vehicle and the discharge spout has been
positioned to direct a flow of grain therefrom into the grain holding
receptacle of the transferee-type vehicle nearer one end of the grain
holding receptacle and for thereafter effecting the grain transfer
operation, said control portion includinginput controls operable by a
user to input data and control information, anda processor operable to
automatedly control the grain transfer operation in accordance with said
input data and control information, said processor programmed to be
responsive to control information toa) commence a grain transfer
operation when the discharge spout has been positioned at a transfer
start position relative to the length of the grain holding receptacle of
the transferee-type vehicle and to thereafterb) transfer grain for an
initial dwell time while the discharge spout remains at said transfer
start position,c) effect an ongoing repositioning of the transferee-type
vehicle relative to the transferor-type vehicle to walk the discharge
spout along at least a portion of the length of the grain holding
receptacle as grain transfer continues until the discharge spout reaches
a transfer end position relative to the length of the grain holding
receptacle of the transferee-type vehicle,d) continue grain transfer for
a terminal dwell time while the discharge spout remains at said transfer
end position,e) terminate the grain transfer operation,establishing said
input data and control information,effecting the positioning of the
transferee-type vehicle at a distance spaced from the transferor-type
vehicle with the discharge spout at said transfer start position,
andeffecting commencement of a grain transfer operation, p1 whereby,
under control of said processor portion, said grain transfer control
system thereafter automatedly effects transfer of grain for an initial
dwell time while the discharge spout remains at said transfer start
position,an ongoing repositioning of the transferee-type vehicle relative
to the transferor-type vehicle to walk the discharge spout along at least
a portion of the length of the grain holding receptacle as grain transfer
continues until the discharge spout reaches a transfer end position
relative to the length of the grain holding receptacle of the
transferee-type vehicle,continuation of grain transfer for a terminal
dwell time while the discharge spout remains at said transfer end
position, andtermination of the grain transfer operation,to achieve a
generally even fill of the grain holding receptacle along its length.

18. The method of claim 17 wherein said input data and control information
includes transfer start and end positions, dwell time for grain transfer
at said transfer start and end times, and walk profile data.

19. The method of claim 18 wherein said repositioning of the
transferee-type vehicle relative to the transferor-type vehicle to walk
the discharge spout along at least a portion of the length of the grain
holding receptacle is dependent upon said walk profile data.

20. The method of claim 17 wherein said processor is operable to determine
during a grain transfer operation whether the projected discharge flow of
grain from the discharge spout is directed to within the grain holding
receptacle and to terminate the grain transfer operation if the projected
discharge flow would fall outside the grain holding receptacle.

Description:

TECHNICAL FIELD

[0001]The present invention is directed to agricultural equipment,
including combine harvesters and related crop transport equipment, and
more particularly to a grain transfer control system, and method of use
thereof, for automatedly controlling the transfer of grain from a mobile
transferor-type vehicle, such as a combine harvester, to a mobile
transferee-type vehicle, such as a crop transport, by varying the
position and speed of the transferor-type and transferee-type vehicles
relative to one another during the transfer operation, especially by
varying the position and rate of walk of the discharge spout along at
least a portion of the length of a grain holding receptacle of the
transferee-type vehicle, to effect a generally even fill of the grain
holding receptacle of the transferee-type vehicle.

BACKGROUND ART

[0002]For many years, agricultural equipment, sometimes denoted herein by
the abbreviation AE, and the individual agricultural machines of such
agricultural equipment, have been operated under control of an operator
thereof to perform various operations or actions, including, among other
things, the harvesting, transfer, and transport of crops. The performance
by such agricultural equipment of the various actions has sometimes been
based upon various data relating, among other things, to the individual
machine being operated as well as to crop type, weather conditions,
topographical conditions, and the position of the individual machine in
the field from which the crop is being harvested or relative to other
agricultural equipment. In addition, the status of such agricultural
equipment or features or components thereof, such as, for example, the
fill status of a grain bin of a combine harvester and the position of the
combine harvester in a field being harvested, and the load status of a
crop transport vehicle, such as a grain cart, and its position,
especially relative to combine harvesters in a field, has been considered
pertinent information, which, when it can be properly shared amongst the
relevant agricultural equipment, has been beneficial in the interplay and
interaction of such relevant agricultural equipment as they perform a
particular agricultural operation, such as the harvesting of a crop in a
field and the transfer of the harvested crop to a crop transport vehicle.

[0003]In part, to facilitate the coordination of activities between and
among various individual pieces or machines of agricultural equipment,
communications systems and devices of various types and constructions
have been developed and installed on or in the individual agricultural
machines so as to allow communications therebetween by the operators
thereof and, in more recent years, even the communication or exchange of
various data between two individual agricultural machines, typically by
RF wireless communications.

[0004]In earlier systems, voice communications allowed the operator of a
first individual agricultural machine to establish a communications link
with and to orally communicate information, including machine location
and operating information and status, to the operator of a second
agricultural machine, including a different type of agricultural machine,
thereby allowing the operator of the second agricultural machine to make
adjustments in the operation of his or her individual machine as
conditions might warrant. When the communications were between different
types of agricultural machines, such as between a combine harvester and a
crop transport vehicle, such communication was often intended to permit
the navigation of the second agricultural machine to join or intercept
the first agricultural machine, such as for the transfer of a harvested
crop from the first to the second agricultural machine.

[0005]More recently, in some instances and with some communications
systems, the machine operator of a combine harvester has been able to
establish a communications link with and to provide data in an electronic
form to a different operator or to the control system associated with the
different agricultural machine, such as a crop transport vehicle, in
order to permit coordination of crop transfer to the crop transport
vehicle and, in some cases, to even remotely exercise some control over
such crop transport vehicle, such as steerage of the crop transport
vehicle to meet the combine harvester at the combine harvester's position
in a field, and the scheduling of the time and location for the combine
harvester and the crop transport vehicle to meet.

[0006]In other instances and with other systems, the machine operator of a
crop transport vehicle, such as a grain cart, has been able to receive on
individual bases electronic data from one or more combine harvesters to
permit the control system associated with the crop transport vehicle to
coordinate the scheduling of positionings of the crop transport vehicle
relative to the crop harvesters and the automated steerage of the crop
transport vehicle to meet the combine harvesters at the combine
harvesters' positions in a field so that coordinated transfers of the
harvested crop from the combine harvesters to the crop transport vehicle
can be effected.

[0007]For the most part, the electronic data so provided or received has
related to the location and relative positionings of the combine
harvesters and transport vehicles, with, in some instances, an operator
of the combine harvester or the crop transport vehicle having the further
ability to act as a master and to remotely control to some extent the
navigation and/or steerage of others of the agricultural vehicles as
slave vehicles in order to effect interceptions therebetween for the
transfer of harvested crop from the combine harvesters to the transport
vehicles.

[0008]In some situations, the control system of a slave vehicle has been
so designed that, instead of, or in addition to, facilitating the
steerage or navigation of the slave vehicle to effect an intercept with a
master vehicle, the slave vehicle is controlled to follow, or to remain
at a relatively fixed distance from, the master vehicle, based upon a
continuing communication of the positioning and location information
between or regarding the master and slave vehicles.

[0009]For the most part, when such systems have been employed, the
operator of the harvester has remained responsible for manually
commencing the actual unloading operation once the harvester and
transport are properly positioned for unloading and for then monitoring
and manually controlling the unloading. In some instances, certain
sensors and monitors of various types have been operable to detect
conditions that might be considered problemsome for continued unloading
and to provide indications to the operator so that appropriate actions
could then be taken by such operator, such as a re-positioning of the
discharge arm of the harvester to alter the angle of extension of the
discharge arm from the harvester or a re-orientation of the discharge
spout at the end of the discharge arm to alter the discharge flow path
from the discharge arm, or even discontinuation of the unloading
operation. With certain systems, some minor adjustments to the
positioning of the discharge arm or re-orientation of the discharge
spout, within certain limits, may even have been effectable without
operator intervention, but, for the most part, close and continuing
operator attention and intervention, especially in the event of
undesirable conditions and to effect commencement and termination of
unloading operations, has remained a necessity. Such necessity for close
and continuing operator attention poses difficulties for an operator when
unloading is occurring on-the-go since the operator may also be
attempting to monitor and control other events at such time, including
the continuing harvesting operation.

[0010]In addition, with many of such systems it has remained difficult to
achieve a desired uniform, or even, fill level of the crop transport
regardless of whether the transfer or grain unloading operation has been
manually or automatically controlled, due in part to the sizes of the
grain holding receptacles of the transport vehicles and to the nature of
fill as grain is directed into the grain holding receptacle from the
spout of a discharge arm associated with the transferor-type vehicle. In
general, the grain tends to pile up below the discharge spout and to
assume, to some extent, the shape of a mound, with a higher grain
elevation and concentration below the discharge spout and lower
elevations and concentrations in radial directions therefrom, resulting
in underutilization of the storage capacities of the transferor-type
vehicles.

[0011]To try to address such problem and to achieve a more uniform fill of
grain holding receptacles, some unloading systems have been designed to
permit or to control some automated movement of the discharge arm or the
discharge spout at the end thereof during the course of an unload
operation, while the positions of the transferor-type and transferee-type
vehicle relative to one another remain fixed. Dependent upon the system,
such movement could include resettings of the angle at which the
discharge arm extends from the transferor-type vehicle towards the
transferee-type vehicle and/or angular re-orientations of the discharge
spout during the course of the unload operation, the intent of which
would be to alter the discharge flow path during the course of the unload
operation to thereby effect a less concentrated area of grain discharge
from the spout.

[0012]While such systems have resulted in some improvements in achieving a
more uniform fill of some grain holding receptacles, they have required
relatively complex subsystems for automatedly effecting the desired
movements of the discharge arm and discharge spout thereof relative to
the transferor-type vehicle, and, so also, the transferee-type vehicle,
and for determining times for such movements as well as for ensuring that
the movements will not result in crop spillage and loss during the unload
operation. The integration of such subsystems of both a transferor-type
and transferee-type vehicle into a unified grain transfer control system
has been challenging, especially due to the complexity of such a system.
In addition, problems with effecting an even fill have remained,
especially when the crop transports have been grain carts of a larger
size, with relatively large, generally rectangular (when viewed from
above), grain holding receptacles, such as may be found in the Kinze 1050
and J&M 1325 carts, especially inasmuch as there are limits, while the
positions of the transferor-type and transferee-type vehicle relative to
one another remain fixed, as to the amount of movement and/or
re-orientation that can be realized with the discharge arm and the
discharge spout thereof before the discharge flow path would be directed
to fall outside of the grain holding receptacle.

[0013]Consequently, users of agricultural equipment have continued to seek
simple and reliable systems and methods for coordinating unloading
operations between a harvester and a grain transport vehicle and for
communicating and exchanging information therebetween during unloading
operations, and for doing so in such a way and in such an environment
that grain transfer operations can be automatedly effected so as to
result in a more complete and uniform fill and distribution in the grain
holding receptacles of the grain transport vehicles, with minimal
operator attention and continuing involvement required once an unloading
operation has been initiated.

SUMMARY OF THE INVENTION

[0014]The present invention is thus directed to a grain transfer control
system for automatedly controlling the transfer of grain from a mobile
transferor-type vehicle, such as a combine harvester, which has opposed
sides and includes a grain storage bin with a grain discharge assembly
operable for effecting the transfer of grain out of said grain storage
bin, to a mobile transferee-type vehicle, such as a grain cart, which has
a grain holding receptacle of a predetermined length and width to
generally define opposed ends and sides of the grain holding receptacle,
by varying the position and speed of the transferee-type vehicle and the
transferor-type vehicle relative to one another during the course of the
grain transfer operation to effect a generally even fill of the
transferee-type vehicle. The grain discharge assembly of the
transferor-type vehicle will typically have associated therewith a
discharge arm with a discharge spout for directing a flow of grain
therethrough, with the discharge arm being extendible from the
transferor-type vehicle to position the discharge spout at a desired
position distanced from a side of transferor-type vehicle and generally
along the length of the grain holding receptacle.

[0015]Such grain transfer control system includes a positioning system
associated with the transferor-type and the transferee-type vehicles for
determining the positions thereof relative to one another and for
automatedly controlling and maintaining desired spaced positioning
therebetween as they are moved, with such positioning system including a
control portion associated with at least one of the transferor-type and
the transferee-type vehicles for initiating a grain transfer operation
when the transferee-type vehicle has been positioned at a spaced distance
from the transferor-type vehicle, generally to a side of the
transferor-type vehicle, and the discharge spout has been positioned to
direct a flow of grain therefrom into the grain holding receptacle of the
transferee-type vehicle nearer one end of the grain holding receptacle
and for thereafter effecting the grain transfer operation.

[0016]Typically, the transferor-type and the transferee-type vehicles will
each have an operating system that includes an operator interface
portion, a sensor input portion, a master machine control, and an
operation performance portion, with the master machine control
operatively connected to such other noted portions. The operator
interface portion includes operator input controls operable to provide
operator input data to the master machine control. The sensor input
portion is operable to monitor certain operational conditions, which
preferably includes the GPS position of the machine, and to provide
sensor input data to the master machine control. The output performance
portion is operable to effect performance of certain actions by such
individual agricultural machine under control of the master machine
control thereof.

[0017]Each of such vehicles will typically also have associated therewith
a communications control portion operable to transmit and receive
communication signals, which communications control portion is
operatively connected to the master machine control of the operating
system to effect communication therefrom and thereto of communications
data. Preferably, each such vehicle that has such a communications
control portion may be controllably operated to enable such
communications control portion to engage in vehicle-to-vehicle
communications, sometimes hereinafter referred to as V2V communications.

[0018]In addition, and preferably, the individual operating systems of
such vehicles may be operable, including through their communications
control portions, to determine for each vehicle its GPS position and to
determine or calculate the GPS coordinates of particular portions or
features of such vehicle, although other relative positioning systems or
methods can also or alternatively be employed to establish relative
positioning thereof. For purposes of the present invention, such
operating systems of the individual vehicles should be so operable that
the vehicles may be positionable relative to one another and
electronically linked to one another to thereafter operate in unison with
one another to effect and control the positionings, speed, and steerage
thereof during subsequent operations.

[0019]One example of a system that employs short range communications for
interactively coordinating the positioning of a transferor-type vehicle
and a transferee-type vehicle for the transfer of grain therebetween may
be found in co-pending U.S. application Ser. No. 12/284,310, filed Dec.
18, 2008, which is incorporated herein by reference thereto.

[0020]The control portion of the grain transfer control system includes
input controls, such as operator input controls of the operator interface
portion of a vehicle operating system, operable by a user to input data
and control information, and a controller portion, such as a processor
associated with the master machine control of such vehicle operating
system, operable to automatedly control the grain transfer operation in
accordance with the input data and control information.

[0021]Preferably, such controller portion may take the form of a
microprocessor programmed to be responsive to control information to
commence a grain transfer operation when the discharge spout associated
with a combine has been positioned at a transfer start position relative
to the length of the grain holding receptacle of an electronically linked
grain cart, to thereafter automatedly transfer grain for an initial dwell
time while the discharge spout remains at said transfer start position,
effect an ongoing repositioning of the grain cart relative to the combine
to walk the discharge spout along at least a portion of the length of the
grain holding receptacle as grain transfer continues until the discharge
spout reaches a transfer end position relative to the length of the grain
holding receptacle of the grain cart, continue grain transfer for a
terminal dwell time while the discharge spout remains at said transfer
end position, and terminate the grain transfer operation. In so
controlling such grain transfer operation, such grain transfer control
system effects a generally even fill of the grain holding receptacle
along its length.

[0022]Preferably, the transfer start and end positions and initial and
terminal dwell times may be selectable and alterable by a user, such as
by data and control information entered through operator controls
associated with an operator interface, including one or more
potentiometers that may be operable during the course of a grain transfer
operation, such as to control the rate of walk of the discharge spout
along the length of the grain holding receptacle.

[0023]Similarly, the mode of the walk of the discharge spout along at
least a portion of the length of the grain holding receptacle may be
selectable and alterable by a user to effect a walk of the discharge
spout, for example, at a uniform rate of speed, in uniform or variable
steps, at a sinusoidally varying rate of speed, or in accordance with a
user defined profile of walk or creep velocity versus position along the
length of the grain holding receptacle.

[0024]To avoid grain waste, the grain transfer control system will
preferably include features and/or programming to try to ensure that
grain being discharged from the discharge spout is directed so as to fall
within the grain holding receptacle and to terminate grain transfer in
the event that the actual or projected discharge flow would fall outside
of such grain holding receptacle. In one preferred embodiment,
positioning data can be utilized to determine the position of the
discharge spout relative to the grain holding receptacle, including the
height of the discharge spout above the top of the grain holding
receptacle, as well as the orientation of the discharge spout, from which
the projected discharge flow can be determined, such as by comparison
with stored look-up tables, or by calculations based upon such
positioning data, and a determination can be made as to whether or not
the grain being discharged will impact within the grain holding
receptacle. In the event that it would be determined that the discharge
flow would impact outside of the grain holding receptacle, the grain
transfer control system would typically terminate the grain transfer
operation.

[0025]Inasmuch as the positions of electronically linked transferor-type
and transferee-type vehicles relative to one another are important for
the conduct of the automated unloading operation, maintenance of both
effective and ongoing position determinations and a stable communications
link between such vehicles during unloading operations is required.
Consequently, the grain control transfer system is therefore also
preferably operable such that if either position determination or V2V
communications are lost during an unloading operation, unloading will
automatedly cease, either by a pause in the unloading operation until
such problem is corrected or by a cancellation and termination of the
unloading operation.

[0026]In addition, the grain transfer control system will also preferably
be responsive to operator inputs in the form of operator override data
and controls to permit operators of such vehicles, especially a combine,
to assume manual control at any time and to take such actions as might be
appropriate under then-existing circumstances.

[0027]Consequently, the system and method of the present invention permits
an electronically linked transferor-type and transferee-type vehicle to
automatedly control a grain transfer operation therebetween in such a way
as to effect a more even fill of a grain holding receptacle of the
transferee-type vehicle along the length of such grain holding
receptacle, and to be able to do so without the complexities that would
be associated with systems requiring angular movements of the discharge
arm and/or re-orientations of the discharge spout relative to the
transferor-type vehicle, and, so also, the transferee-type vehicle,
during the course of unload operations.

BRIEF DESCRIPTION OF THE DRAWINGS

[0028]FIG. 1 is a diagram depicting a representative field in which or
about which several combine harvesters, tractors with grain transports,
and semi-trailer transporters are disposed, as well as other extraneous
agricultural equipment.

[0029]FIG. 2 is a block diagram of various components associated with an
operating system of a piece of agricultural equipment or the like.

[0030]FIG. 3 is a block diagram of a typical grain transfer system
according to the present invention, illustrating that, when a combine
harvester and a grain transport are electronically linked for operation
in unison, their operating systems, as depicted in FIG. 2, may be
subsumed, at least in part, into such grain transfer control system.

[0031]FIG. 4 is a diagram similar to FIG. 1, but showing various of the
agricultural equipment as located at a subsequent time when grain
transport GT1 has moved into close proximity to harvester CH1 for the
purpose of effecting an unloading of grain from harvester CH1 to grain
transport GT1.

[0032]FIGS. 5-7 are generalized top plan views of the harvester CH1 and
the grain transport GT1 of FIG. 4, depicting the harvester and grain
transport in somewhat greater detail and in close proximity to one
another as a grain transfer operation is effected and the extended
discharge arm of the harvester is walked along a portion of the length of
the grain holding receptacle of the grain transport.

[0033]FIGS. 8a-8b depicts a flowchart for a routine that generally
illustrates the operational flow of a grain transfer operation employing
a grain transfer control system according to the present invention.

[0034]FIG. 9 is a front plan view of a grain holding receptacle of a grain
cart in association with the discharge spout of a combine harvester
illustrating how the height of the discharge spout above the grain
holding receptacle and the inclination of the discharge spout can affect,
in two dimensions, the grain flow path from the discharge spout.

[0035]FIG. 10 is a generalized flowchart depicting a subroutine that may
be employed in or with the operation illustrated by the flowchart of
FIGS. 8a-8b.

DETAILED DESCRIPTION OF THE INVENTION

[0036]Referring now to the drawings, wherein like numbers refer to like
items, FIG. 1 depicts a field 12 with a plurality of agricultural
vehicles of various types therein and therearound, including combine
harvesters CH1, CH2, and CH3, tractors with grain transports GT1 and GT2,
and semi-trailer transporters ST1 and ST2, all of which machines are
engaged in the harvesting of the particular crop in field 12, including
the transport of such crop to storage. For convenience in future
reference herein, the combine harvesters may often hereinafter be
referred to more simply as combines or harvesters, the tractors with
grain transports may often hereinafter be referred to more simply as
transports or crop or grain transports or grain carts, and the
semi-trailer transporters may often hereinafter be referred to more
simply as transporters.

[0037]As depicted in FIG. 1, combine harvester CH1 is at location CH1-GPS,
combine harvester CH2 is at location CH2-GPS, and combine harvester CH3
is at location CH3-GPS. Similarly, grain transports GT1 and GT2 are at
locations GT1-GPS and GT2-GPS, respectively, and transporters ST1 and ST2
are at locations ST1-GPS and ST2-GPS, respectively.

[0038]Additional agricultural equipment AE1, AE2, and AE3 is also shown,
which agricultural equipment is not engaged in the harvesting of the
particular crop in field 12. Such agricultural machines AE1, AE2, and AE3
are at locations AE1-GPS, AE2-GPS, and AE3-GPS, respectively.

[0039]Each of such agricultural machines CH1 through CH3 and GT1 and GT2
includes an operating system 20 such as depicted in FIG. 2, which
operating system includes a master machine control (MMC) 22, an operator
interface portion 24, a sensor input portion 26, and an output
performance portion 28. The MMC 22 typically includes a processor portion
32, often a microprocessor operating under program control, variously
sometimes referred to as operating system software or master machine
control software or the operating software or program, that is
operatively connected to the other noted portions of the operating system
20.

[0040]Operator interface portion 24 typically includes a user input/output
(I/O) interface 34 that may include, by way of example and not of
limitation, a keyboard for the entry of commands or other input, control
switches or devices, including adjustable potentiometers, and printout
devices, as well as a display portion 35 that may include, by way of
example and not of limitation, a video display, lights, and gauges. A
touch screen display, which includes features for both input and output
of information, may also be advantageously employed as part of the
operator interface portion 24.

[0041]Sensor input portion 26 typically includes a plurality of sensors S1
through Sm connected to monitor various conditions of the agricultural
machine and of the environment in which the agricultural machine is
operating. Such sensor input portion 26 also includes or has associated
therewith a position sensing or determination system 36, including known
systems for determining the location of the agricultural machine by
global positioning, which system 36 may hereinafter sometimes be referred
to as a position detector system.

[0042]The output performance portion 28 includes various operation
controls C1 through Cn for controlling various operations or actions of
the agricultural equipment. For a harvester, such controls C1 through Cn
may, for example, include equipment and controls for setting or adjusting
the harvester's speed, steerage, height of cutting or harvesting
implements, distribution of crop residue, and positioning in the field,
among numerous other possible actions, such as positioning of the
harvester unloading device, including, by way of example, the degree of
angular projection or extension of the unload or discharge tube or arm of
a combine harvester relative to such combine harvester, the orientation,
including pitch, yaw, and roll status, of the discharge spout at the end
of the discharge arm, and operation of grain transfer apparatus to effect
the discharge of grain from a holding bin through the discharge arm. For
other agricultural equipment, such as grain transports and transporters,
such controls may include various other controls. Typically, most, if not
all, of such agricultural equipment will include at least speed and
steerage controls, and many may also have controls for determining or
updating the GPS position of the equipment and effecting communications
with other equipment, as will be further addressed hereinafter. Except to
the extent otherwise addressed hereinafter, and for the most part, such
controls, equipment, and apparatus, and the operation thereof, is well
known and the particular features and configurations thereof are not
critical to the present invention or its practice.

[0043]With such an operating system 20, MMC 22 is operable, based at least
in part upon data and information received from the operator interface
portion 24 and the sensor input portion 26, to control the operation of
the agricultural machine through output performance portion 28. Control
of output performance portion 28 and of the individual controls C1
through Cn thereof is effected by the establishment by processor portion
32 of various performance parameters and the use of such performance
parameters in controlling the individual controls C1 through Cn.

[0044]When the performance parameters are established based primarily, if
not exclusively, upon data made available through the operator interface
portion 24 and the sensor input portion 26, the performance parameters
are typically considered to be machine-specific performance parameters.
Certain of the machine-specific parameters may change or be modified
based upon inputs received from sensors S1 through Sm as the harvesting
operation proceeds, while other performance parameters may remain set and
unchanged.

[0045]Additionally, in accordance with the present invention, operating
system 20 also includes a communications control portion 37, operatively
connected to MMC 22, that serves as a gateway for the communication of
data and information between MMC 22 and external sources. Such
communications control portion 37 allows a user to control the wireless
transmission of data and information to or the receipt of data and
information from external sources, which data and information can be
utilized by the equipment operator or the equipment itself to determine
further actions. In some instances, MMC 22 may be responsive to receipt
of data and information, especially if such data or information is
provided in response to a request for such data or information submitted
to the external source, to display or output the received data or
information, such as by the user I/O interface portion 34. In other
instances, when MMC 22 is properly configured or programmed, MMC 22 may
operate in response to such received data or information to effect
certain actions by output performance portion 28 or changes in certain
performance parameters, as a consequence of which some of the performance
parameters might no longer be considered machine-specific.

[0046]The communications control portion 37 is generally capable of
transmitting and receiving communications signals, including RF signals,
such as might be required for GPS position determinations or for
communications over RF links, but is not limited to the transmission and
receipt of only longer distance communications signals and may, depending
upon particular systems and users, also be capable transmitting and
receiving short distance communications signals, such as, but not
necessarily limited to, microwave signals associated with frequencies
that often, if not typically, are in the low gigahertz range, including,
by way of example and not of limitation, frequencies in the L, S, C, and
X bands.

[0047]As previously noted, one example of a system that employs short
range communications for interactively coordinating the positioning of a
transferor-type vehicle and a transferee-type vehicle for the transfer of
grain therebetween may be found in co-pending U.S. application Ser. No.
12/284,310, filed Dec. 18, 2008, which is incorporated herein by
reference thereto.

[0048]As will be appreciated by those skilled in the art, communications
control portion 37 may include modules, such as communicator module 38,
that may take many forms and employ firmware and software designed or
adapted to operate in conformity with the particular agricultural
equipment (AE) with which they are employed and with the operating system
software utilized in such agricultural equipment. Depending upon the
particular forms of such modules and the operating systems of the
agricultural equipment of which they form a part, greater or lesser
functional responsibilities may be distributed between such modules and
their component sections and portions, to the point that, in some
instances, most of the firmware and software associated with the wireless
communications may be subsumed within operating system hardware and
software for the agricultural equipment, principally identified as being
included within MMC 22, particularly where the agricultural equipment is
provided by a manufacturer with an operating system that integrates to a
great degree the hardware and software for the operation of such system,
similar to the manner in which many personal computer systems may be
provided with modem support integrated onto a motherboard and with
related drivers and software included with the operating system software.

[0049]To greater or lesser degrees, the various other elements depicted in
FIG. 2, may also be subsumed into such operating system hardware and
software, and in some instances, position detection, including
determination of a GPS position, may involve elements or portions of all
of position detector 36 of sensor input portion 26, communications
control portion 37, and MMC 22, especially when position detection makes
use of global positioning signals.

[0050]In any event, the communications control portion 37 of operating
system 20 is considered to be operable under control of MMC 22 to control
the wireless signals transmitted and received by the agricultural
equipment of which it forms a part. With particular regard to the present
invention, MMC 22 and communications control portion 37 of operating
system 20 of a particular harvester, such as harvester CH1, are designed
and configured and operate to be able to operatively identify various
other vehicles with which communications links may be established and to
operatively connect or link to such other vehicles. The MMCs 22 and
communications control portions 37 of harvesters CH2 and CH3 and grain
transports GT1 and GT2 are similarly operable to establish such
connectivity with other vehicles.

[0051]When a plurality of agricultural machines are positioned in a field,
such as at positions as shown in FIG. 1, the operators of such
agricultural machines may initiate actions to enable their individual
vehicles to engage in vehicle to vehicle communications, hereinafter
often referred to as V2V communications, with other vehicles that are
within range of the communications signals. If two such vehicles, such as
CH1 and GT1 are so enabled, exchanges of data can then transpire
therebetween, as is indicated by the communications link depicted
extending between harvester CH1 and grain transport GT1 in FIG. 1, and a
communications link pairing can be negotiated and established
therebetween, typically in response to actions by the operator of
harvester CH1 indicating a desire for an unloading operation.

[0052]With reference to FIG. 1, it should be appreciated and understood
that a similar communications link could likewise be established between
harvester CH1 and grain transport GT2. In such event, based upon the
exchange of logistical data by harvester CH1 and grain transports GT1 and
GT2, positionings of such vehicles relative to one another can be
determined. With the vehicles positioned as depicted in FIG. 1, it can
thus be determined, either by manual communications or automatedly, that
grain transport GT1 is nearer to harvester CH1 than is grain transport
GT2, and harvester CH1 and grain transport GT1 can coordinate with one
another to establish an electronic link therebetween for the purpose of
an unload operation in accordance with which a unified grain transfer
control system 50, such as is depicted in FIG. 3, is established for
coordinating the relative positionings for grain transfer and for
controlling the actual transfer of grain from harvester CH1 to grain
transport GT1.

[0053]When such an electronic link is established, the separate operating
systems 20 of harvester CH1 and grain transport GT1 are, in effect,
subsumed, in whole or in part, into a unified grain transfer control
system 50, as illustrated in FIG. 3, that includes a positioning system
52 with a control portion 54. Such control portion 54 includes input
controls, such as the controls available at the user I/O interfaces 34 of
one or both of harvester CH1 and grain transport GT1. Typically, when the
grain transfer control system 50 is established, such as when harvester
CH1 and grain transport GT1 become electronically linked, one of the
operating systems 20 will become the primary or master system and the
other will become the secondary or slave system, although the established
grain transfer control system 50 may be so operable that either vehicle
operator may be able to enter at least certain data or information. In
general, however, one of the processor portions 32 of the MMCs 22 will
become the primary processor and the other will be a slave processor,
until or unless some control change is thereafter effected.

[0054]FIG. 4 depicts a situation in which, under either manual or
automated control, grain transport GT1 has been moved to adjacent combine
harvester CH1 in a field and an electronic link established therebetween
to permit an unloading operation to be effected. As better shown in FIG.
5, in preparation for the actual unload operation, discharge arm 60 of
combine harvester CH1 is extended outwardly from combine harvester CH1,
often, but not necessarily always, generally sidewardly from combine
harvester CH1, such that discharge spout 62 at the outer end 64 of
discharge arm 60 is positioned over the grain holding receptacle 70 of
the adjacently spaced grain transport GT1, nearer the front end 72 than
the back end 74 of such receptacle 70 and generally between sides 76 and
78 thereof.

[0055]As will be further discussed hereinafter, when discharge spout 62 is
at a transfer start position, such as in FIG. 5, an unload operation may
be initiated and, as grain transfer thereafter proceeds, grain transfer
control system 50 will monitor and control the further and ongoing
positionings of combine harvester CH1 and grain transport GT1 during such
unload operation, such as by increasing the speed of grain transport GT1
relative to combine harvester CH1, to effect, during a portion of the
unload operation, movement of the discharge spout 62, while the discharge
arm 60 remains in a generally fixed extension configuration relative to
combine harvester CH1, above and along a portion of the length of the
grain holding receptacle 70 of grain transport GT1, such as is depicted
by FIGS. 5-7, until the discharge spout 62 reaches a transfer end
position, such as in FIG. 7.

[0056]The transfer start and transfer end positions may be set or
established by operator inputs or by stored system values or as
determined based upon positioning information and specifications of the
combine harvester CH1 and the grain transport GT1, and dwell times for
the transfer of grain while the discharge spout is at such transfer start
and transfer end positions may be set or established by operator inputs
or by stored system values or as determined based upon status values
associated with the grain transport GT1. Relative movement during an
unload operation of the discharge spout 62 along a portion of the length
of the grain holding receptacle 70 may be in accordance with operator
inputs or stored or determined values. Dependent upon details of the
particular system employed and desires of vehicle operators, such
movement may, by way of example and not of limitation, proceed at a
uniform rate of speed, in uniform or variable steps, at a sinusoidally
varying rate of speed, or in accordance with a user defined profile of
walk or creep velocity versus position along the length of the grain
holding receptacle, but should result in the relative movement of the
discharge spout 62 along a portion of the length of the grain holding
receptacle 70 so as to transfer grain into the grain holding receptacle
70 along such portion of its length to effect a more uniform or even fill
along the length of such grain holding receptacle 70.

[0057]FIGS. 8a-8b depict a generalized flow chart 100 in accordance with
which a grain transfer system 50 may operate to transfer grain from
combine harvester CH1 to grain transport GT1 when such vehicles are
electronically linked to operate in unison with one another and
positioning control 52 is operating to position the discharge spout 62 at
the transfer start position, which position may be determined from data
and control information input by a user and/or stored by the grain
transfer control system 50, including information regarding the type and
specifications of grain transport GT1, including the dimensions of the
grain holding receptacle 70, and the fill status thereof prior to the
planned unload operation. In one preferred embodiment, the MMC 22 of the
operating system 20 of combine harvester CH1 will act as the master
control for the unified grain transfer control system 50 and processor
portion 32 is a microprocessor programmed to effectively operate in
accordance with flow chart 100.

[0058]In general, at entry point A of flowchart 100, the microprocessor 32
is controlling the positioning control 52 of the unified grain control
system 50 to establish a relative positioning of combine harvester CH1
and grain transport GT1 preparatory to the initiation of a grain transfer
operation. Microprocessor 32 proceeds to check, such as is represented by
@_TRANSFER_START_POSITION? decision block 102, whether the discharge
spout 62 is at the transfer start position yet. If not, adjustment of the
relative positionings of combine harvester CH1 and grain transport GT1
proceeds, as noted by ADJUST_POSITIONS block 104 and loop 106 until the
transfer start position is attained.

[0059]When the discharge spout 62 has been properly positioned at the
transfer start position, the operation proceeds from decision block 102
to INITIATION_REQUEST? decision block 108, in accordance with which a
check is made to determine whether a transfer initiation control input
has been entered. Typically, in order to proceed, the operator of one of
such vehicles, generally the operator of the combine harvester CH1, will
need to effect a control entry at an operator interface portion 24.
Dependent upon details of the system employed, positioning status
information may be displayed or made available to an operator at the
operator interface portion 24 and an operator can, upon noting that the
discharge spout 62 is at the transfer start position, effect entry of a
transfer initiation control input to commence the grain transfer.

[0060]If no transfer initiation control input has been made by the time of
such check at decision block 108, operation will proceed back to decision
block 102, as illustrated by loop 110. On the other hand, if a transfer
initiation control input has been made, operation will proceed to
UNLOAD_START block 112, in accordance with which transfer of grain from
combine harvester CH1 through discharge arm 60 and discharge spout 62
into grain holding receptacle 72 of grain transport 70 will commence
under control of microprocessor 32, and the operation will proceed to
DWELL_TIME_TIMED-OUT? decision block 114.

[0061]If the dwell time for grain transfer while the discharge spout 62 is
at the transfer start position has not timed-out, the operation will
remain in a loop 116 until time-out occurs. When time-out of the dwell
time is reached, operation will then proceed from decision block 114
(FIG. 8a) to WALK block 118 (FIG. 8b), in accordance with which
microprocessor 32 will control through positioning control 52 the
relative repositioning of discharge spout 62 along the length of the
grain holding receptacle 70 of grain transport GT1 based upon the walk
profile that has been established or determined, and operation will
proceed to WALK_ADJUST? decision block 120.

[0062]At block 120, microprocessor 32 will check to see if any adjustments
to the walk profile are necessary or desired, such as due to the entry by
an operator at a user I/O interface 34 of an operator interface portion
24 of revised walk profile information. If so, operation will proceed to
ADJUST_WALK block 122, in accordance with which adjustments will be made
to the established walk profile before operation proceeds over loop 124
back to WALK block 118.

[0063]On the other hand, if, at block 120, it is found that no adjustments
to the walk profile are necessary or desired, operation will proceed to
@_TRANSFER_END_POSITION? decision block 126 where a check will be made to
determine whether the discharge spout 62 has reached the transfer end
position along the length of the grain holding receptacle 72. If not, the
operation proceeds back over loop 128 to WALK block 118.

[0064]On the other hand, if the transfer end position has been reached,
operation will proceed to FINISH_UNLOAD block 130, in accordance with
which microprocessor 32 will effect a termination of the relative
repositioning of the discharge spout 62 along the length of grain holding
receptacle 70 while maintaining and continuing the transfer of grain
through discharge arm 60 and its discharge spout 62 and into grain
holding receptacle 70.

[0065]Operation will thereafter proceed to DWELL_TIME_TIMED-OUT? decision
block 132, at which a check will be made to determine whether or not the
dwell time for grain transfer while the discharge spout 62 remains at the
transfer end position has timed-out. If not, the operation will remain in
a loop 134 until time-out occurs.

[0066]When time-out of the dwell time is reached, operation will then
proceed from decision block 132 to STOP_UNLOAD block 136, in accordance
with which microprocessor 32 will then effect a termination of the grain
transfer operation before proceeding to exit point C from such flowchart
routine.

[0067]It will be appreciated by those skilled in the art that the
positioning of the discharge spout 62 above the grain holding receptacle
70 of the grain transport GT1 does not ensure that grain discharged
through the discharge arm 60 and its discharge spout 62 will necessarily
be directed into or fall within the grain holding receptacle, and that
the position of the discharge spout above the top of the grain holding
receptacle as well as the orientation of such discharge spout will
influence the grain flow path from the discharge spout 62. In such
regard, FIG. 9 illustrates how the height of the discharge spout 62 above
grain holding receptacle 70 and the inclination of the discharge spout
can affect, in two dimensions, considered the x and y dimensions, the
grain flow path. Dependent upon the inclination of the discharge spout 62
at a height y above the grain holding receptacle 70, the grain being
discharged from discharge spout 62 will typically follow a grain flow
path 80 and be displaced from vertical a distance x across the width of
the grain holding receptacle by the time it reaches the top of grain
holding receptacle 70.

[0068]Similarly, if the discharge spout 62 were to be rotated forwardly or
backwardly into or out of the view in FIG. 9, that is, in a z direction,
the grain flow path could also be displaced from vertical a distance z
generally along the length of the grain holding receptacle 70. Some,
generally relatively minor, z direction displacement may also result from
the speeds and relative speeds of the combine harvester CH1 and the grain
transport as they move over the field, but such displacement will
generally be relatively minor in view of the rapid flow rate of the grain
through the discharge arm 60 and discharge spout 62 and the relatively
small distance y between the discharge spout 62 and the top of the grain
holding receptacle 70.

[0069]In some situations, the displacement from vertical of the grain
being discharged from the discharge spout 62 can vary during the grain
transfer process. For example, when operating on a side hill the weight
of the grain in the grain tank located high on the combine CH1, can
significantly affect the center of gravity of the combine harvester CH1.
As grain is unloaded to the grain transport GT1, the combine harvester
CH1 will tend to roll towards the "uphill" side of the combine CH1, while
the grain transport GT1 will roll towards its "downhill" side. If the
grain transport vehicle is on the uphill side of combine CH1, the y
distance between the discharge spout 62 and the top of the grain holding
receptacle 70 will decrease. However, if the grain transport GT1 is on
the downhill side of combine CH1, the y distance between the discharge
spout 62 and the top of the grain holding receptacle 70 will increase.

[0070]Inasmuch as displacement from vertical of the grain being discharged
from the discharge spout 62 occurs, it is preferred that, during unload
operations, actions be taken to try to ensure that the grain being
discharged will fall within the grain holding receptacle of the grain
transport 70. Dependent upon the details of the particular systems
employed, displacement values can be determined or calculated in various
ways, including from GPS data associated with the combine harvester CH1
and the grain transport GT1 and from sensor information including, but
not limited to, position and/or height sensors, inertial measurement
gyros or attitude angle sensors and the like, and stored specification
data for such vehicles and their component parts, including the discharge
arm 60 and discharge spout 62, and/or can be stored in look-up tables
accessible by the grain transfer control system 50.

[0071]In addition, the type and condition of the harvested grain
influences the grain flow path out of the discharge spout 62. Variations
in grain density, moisture, particle size, and the like, can be
determined in various ways including, but not limited to, sensor
information, and stored look-up tables, accessible by the grain transfer
control system 50 can include information related to the type and
condition of the grain and its influence on grain flow path.

[0072]Based upon the above noted data and information, the grain transfer
control system 50 can determine projected grain flow paths as the grain
transfer operation proceeds and, if the projected grain flow path 80 at
any time would fall outside of the grain holding receptacle 70, effect an
early or emergency termination of the grain transfer operation so as to
avoid spillage and waste.

[0073]Accordingly, FIG. 10 depicts a generalized flowchart 150 of a
subroutine that may be employed in or with the operation illustrated by
flowchart 100 of FIG. 8. Such subroutine may be called and readily
utilized in the performance of blocks 112, 114, 118, 126, 130, and 132 of
flowchart 100.

[0074]When the subroutine of flowchart 150 is called, microprocessor 32
enters the subroutine at entry point D and proceeds to
DETERMINE_SPOUT_POSITION block 152, in accordance with which
microprocessor 32 operates to determine the spout position, preferably,
but not necessarily, by reference to GPS data.

[0075]Operation thereafter proceeds from block 152 to
DETERMINE_RECEPTACLE_RELATIVE_TO_SPOUT block 154, in accordance with
which microprocessor then operates to determine the position of the grain
holding receptacle 70, including the positions of the front, rear, and
sides 72-78 thereof, preferably, but not necessarily, by reference to GPS
data, and the positions thereof relative to the discharge spout 62.

[0076]Once such position information has been determined, operation will
thereafter proceed to DETERMINE_TRAJECTORY block 156, in accordance with
which microprocessor 32 will operate to determine, from the position
information developed at blocks 152 and 154, the projected trajectory of
the grain being discharged from discharge spout 62. As has been
previously noted, depending upon the details of the particular grain
transfer control system 50 being employed, such determination may involve
or require various calculations or reference to stored data and
information, including certain stored look-up tables.

[0077]Operation next proceeds from block 156 to TRAJECTORY_W/I_RECEPTACLE?
decision block 158 for a check of whether or not the projected trajectory
of the grain from discharge spout 62 would fall within the grain holding
receptacle 70. If so, operation would proceed to exit the subroutine at
point E and return to the point of call in the appropriate block 112,
118, or 130 of flowchart 100. If not, operation would proceed, instead,
to E_STOP block 160, in accordance with which microprocessor 32 would
operate to effect an early or emergency stop of the grain transfer
operation in order to avoid spillage and waste of the grain.

[0078]Upon any termination of a grain transfer operation, whether a normal
termination or an early or emergency termination, notifications of such
termination will typically be provided to the operators of the vehicles
involved in the grain transfer operation so that appropriate actions can
be taken thereby. Depending upon the particular designs of various
systems, the discharge arm 60 may then be repositioned by harvester CH1
and actions to return combine harvester CH1 and grain transport GT1 to
independent control may be effected. Such actions might, but need not
necessarily, include the automated steerage and movement of the grain
transport to distance the grain transport GT1 from the combine harvester
CH1 by some degree to avoid possible entanglement or collision between
such vehicles as independent control of such vehicles is effected. In
such regard, positive actions by the vehicle operators may, but need not
necessarily, be solicited prior to the return of individual control to
such operators or their vehicles.

[0079]Following the termination of a grain transfer operation and such
other actions as may be deemed appropriate or desirable before
disengagement of the pairing between harvester CH1 and grain transport
GT1, the electronic linkage between harvester CH1 and grain transport GT1
will be terminated.

[0080]Those skilled in the art will recognize and understand that, in
addition to those circumstances discussed hereinabove that would result
in termination of a grain transfer operation, various other circumstances
could arise as a result of which interruption or termination of grain
transfer would be appropriate or prudent. In such regard, such
circumstances might, for example, arise if the operator of harvester CH1
activated a control or entered a command requesting a temporary cessation
of unloading, such as while he addresses some issue associated with his
vehicle that will not result in a loss of unified speed and positioning
control or out of limits or failure conditions for the requisite transfer
conditions, or if a requisite transfer condition that is being monitored
goes out of limits or otherwise fails, even if only momentarily or
briefly.

[0081]Failures of certain equipment, adverse weather, and adverse
topographical conditions are other circumstances that might arise and
whose occurrence might make it prudent, if not necessary, to terminate
the grain transfer operation. More seriously, inasmuch as the proper
positioning of grain transport GT1 relative to harvester CH1 is of great
significance in effecting an unloading operation, a failure or other
disconnection of the unified speed and positioning control or a failure
of the communications link between harvester CH1 and grain transport GT1
would be other circumstances that would be expected to result in
termination of a grain transfer operation. Similarly, if V2V
communications of a vehicle were to become disabled, such as by the
operator of a vehicle operating a V2V control thereof to disable V2V
communications by such vehicle, termination of the grain transfer
operation would be appropriate.

[0082]The particular manners in which grain transfer control systems
according to the present invention address or react to such circumstances
will depend, to a large extent, upon the details of the particular
systems and the particular circumstances encountered. Appropriate designs
and operations to address such circumstances and to effect appropriate
terminations of grain transfer operations may be readily developed by
those skilled in the art.

[0083]Although the foregoing discussions have addressed the positionings
of the vehicles and their components primarily by reference to GPS
coordinates and systems, it should be understood and appreciated that
various other techniques and equipment could be employed to determine the
relative positionings of the vehicles, and that positioning systems other
then GPS positioning systems discussed hereinabove, which systems have
been found to generally operate to provide generally accurate and
reliable positioning information, may be advantageously utilized with the
present invention.

[0084]While the foregoing discussion has most specifically addressed the
unloading of grain from a harvester to a grain transport, it should also
be understood and appreciated that the present invention is not limited
to such types of vehicles and to grain unloading, but may be
advantageously employed with various transferor-type and transferee-type
vehicles, including semi-trailer transporters, for coordinating the
transfer therebetween of various, generally crop, materials.

[0085]In light of all the foregoing, it should thus be apparent to those
skilled in the art that there has been shown and described a grain
transfer control system, and method of use thereof, which permit, along
the length of a grain holding receptacle of a transferor-type vehicle, a
more even fill to be realized from a grain transfer operation. However,
it should also be apparent that, within the principles and scope of the
invention, many changes are possible and contemplated, including in the
details, materials, and arrangements of parts and the sequences of
operation which have been described and illustrated to explain the nature
of the invention. Thus, while the foregoing description and discussion
addresses certain preferred embodiments or elements of the invention, it
should further be understood that concepts of the invention, as based
upon the foregoing description and discussion, may be readily
incorporated into or employed in other embodiments and constructions
without departing from the scope of the invention. Accordingly, the
following claims are intended to protect the invention broadly as well as
in the specific form shown, and all changes, modifications, variations,
and other uses and applications which do not depart from the spirit and
scope of the invention are deemed to be covered by the invention, which
is limited only by the claims which follow.